MULTI-UAV TRAJECTORY PLANNING BASED ON COORDINATION VARIABLES

With the increase of complexity of unmanned aerial vehicles (UAV) tasks, trajectory planning algorithms, trajectory tracking algorithms, and coordination methods are becoming more and more important in multi-UAV collaborative task research. Based on the centralized coordination architecture, this paper studies the cooperative time constraint problem of multiple UAVs and establishes a minimum snap trajectory planning model for a single UAV which converts the trajectory planning problem into a quadratic programming problem. A trajectory tracking controller is used to track the planned flight trajectory. In multi-UAV coordination with cooperative time constraints, coordination variables and coordination functions are selected as the multi-UAV cooperative strategy, and the time generated by the trajectory planning algorithm is used as the coordination variable. After the coordination function has coordinated the coordination variables, a unified time will be generated and returned to each UAV for replanning and tracking. The simulation result shows that multiple UAVs can track the planned trajectory with a small tracking error and complete the expected mission of reaching the same target point simultaneously.